version: 66.04
glider: 167
mission: 2
dive: 242
start: 6 30 109 21 3 29
data:
$ID,167
$MISSION,2
$DIVE,242
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9865.2402
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.600696
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,205331,2512.031,12337.686,41,1.7,42,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-65.1
$GPS2,210308,2512.164,12337.787,12,1.3,12,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,317.9,66696,-23.2,-12.000
$D_GRID,1989
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,41,0.00,0.00,-24.52,0.000,2,0.000,0.000,141,2444,2395
$GC,44,-1.18,-121.7,3.2,-3.3,4,113,8.43,2.15,-51.62,0.000,4,0.245,0.039,2160,1014,3990
$GC,212,-0.61,-121.7,37.7,-29.4,32,219,0.68,2.15,0.00,0.000,6,0.176,0.030,2341,2445,3990
$GC,557,-0.74,-121.7,94.0,-14.7,93,565,0.12,2.00,0.00,0.000,4,0.076,0.044,2278,3755,3992
$GC,622,-0.67,-121.7,104.9,-17.0,104,628,0.17,1.92,0.00,0.000,6,0.156,0.023,2326,2392,3992
$GC,967,-0.88,-121.7,143.3,-11.7,165,974,0.17,2.12,0.00,0.000,4,0.062,0.044,2234,3768,3993
$GC,1093,-0.80,-121.7,162.0,-14.9,187,1100,0.17,1.83,0.00,0.000,6,0.156,0.023,2282,2460,3994
$GC,1440,-0.97,-121.7,202.4,-11.6,248,1447,0.15,2.00,0.00,0.000,4,0.067,0.044,2214,3760,3996
$GC,1471,-0.93,-121.7,206.7,-13.6,253,1479,0.12,1.80,0.00,0.000,6,0.163,0.024,2245,2482,3996
$GC,1817,-1.02,-121.7,245.3,-10.2,314,1823,0.00,1.98,0.00,0.000,4,0.000,0.045,2238,3767,3996
$GC,1887,-1.08,-121.7,253.1,-11.3,326,1893,0.12,1.77,0.00,0.000,6,0.075,0.024,2180,2495,3996
$GC,2234,-0.96,-121.7,309.2,-17.2,383,2236,0.20,0.00,0.00,0.000,6,0.157,0.000,2235,2496,3996
$GC,2555,-1.07,-121.7,346.9,-10.7,413,2559,0.12,1.95,0.00,0.000,4,0.079,0.046,2179,3758,3996
$GC,2703,-0.94,-121.7,367.9,-15.0,426,2707,0.22,1.77,0.00,0.000,6,0.159,0.025,2241,2505,3996
$GC,3033,-1.12,-121.7,405.4,-10.5,457,3038,0.17,2.10,0.00,0.000,4,0.066,0.027,2168,1047,3996
$GC,3105,-1.05,-121.7,414.8,-13.1,463,3112,0.15,2.17,0.00,0.000,6,0.166,0.033,2203,2500,3996
$GC,3431,-1.05,-121.7,451.2,-11.0,494,3434,0.00,1.92,0.00,0.000,4,0.000,0.048,2203,3763,3995
$GC,3503,-1.05,-121.7,459.9,-12.0,500,3509,0.00,1.80,0.00,0.000,6,0.000,0.026,2203,2526,3994
$GC,3838,-1.10,-121.7,503.0,-13.2,531,3842,0.00,1.90,0.00,0.000,4,0.000,0.050,2203,3760,3993
$GC,3899,-1.15,-121.7,511.0,-12.7,533,3906,0.00,1.75,0.00,0.000,6,0.000,0.028,2203,2540,3992
$GC,4216,-1.23,-121.7,545.2,-10.6,549,4220,0.17,2.15,0.00,0.000,4,0.069,0.028,2128,1059,3991
$GC,4278,-1.06,-121.7,553.4,-13.5,552,4282,0.28,2.20,0.00,0.000,6,0.170,0.035,2199,2515,3990
$GC,4606,-1.13,-121.7,588.8,-11.4,568,4610,0.00,1.90,0.00,0.000,4,0.000,0.050,2192,3753,3988
$GC,4676,-1.13,-121.7,597.3,-11.9,571,4679,0.00,1.75,0.00,0.000,6,0.000,0.028,2192,2543,3987
$GC,5008,-1.13,-121.7,637.4,-11.9,587,5012,0.00,1.90,0.00,0.000,4,0.000,0.052,2192,3753,3985
$GC,5053,-1.13,-121.7,643.2,-13.4,589,5057,0.00,1.75,0.00,0.000,6,0.000,0.029,2192,2551,3984
$GC,5387,-1.18,-121.7,679.4,-10.2,605,5391,0.00,1.92,0.00,0.000,4,0.000,0.053,2193,3753,3982
$GC,5482,-1.18,-121.7,689.6,-10.5,609,5485,0.00,1.75,0.00,0.000,6,0.000,0.029,2192,2551,3981
$GC,5809,-1.25,-121.7,723.1,-10.1,625,5814,0.15,2.17,0.00,0.000,4,0.081,0.028,2134,1060,3978
$GC,5858,-1.12,-121.7,729.4,-13.1,627,5863,0.20,2.22,0.00,0.000,6,0.174,0.037,2178,2521,3978
$GC,6179,-1.12,-121.7,763.5,-10.6,643,6183,0.00,1.95,0.00,0.000,4,0.000,0.054,2178,3756,3976
$GC,6292,-1.12,-121.7,776.3,-11.7,648,6296,0.00,1.75,0.00,0.000,6,0.000,0.029,2178,2560,3975
$GC,6625,-1.12,-121.7,813.1,-11.0,664,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2560,3973
$GC,6934,-1.12,-121.7,848.1,-11.5,679,6937,0.00,1.90,0.00,0.000,4,0.000,0.056,2178,3756,3971
$GC,7006,-1.12,-121.7,857.0,-12.0,682,7010,0.00,1.73,0.00,0.000,6,0.000,0.030,2178,2580,3970
$GC,7334,-1.12,-121.7,894.6,-11.4,698,7338,0.00,1.88,0.00,0.000,4,0.000,0.056,2178,3760,3968
$GC,7425,-1.12,-121.7,905.3,-11.6,702,7428,0.00,1.73,0.00,0.000,6,0.000,0.030,2177,2587,3967
$GC,7758,-1.12,-121.7,945.4,-12.0,718,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2587,3966
$GC,8067,-1.12,-121.7,980.8,-10.9,733,8071,0.00,2.25,0.00,0.000,4,0.000,0.031,2177,1069,3964
$GC,8100,-1.18,-121.7,984.7,-11.6,734,8105,0.00,2.30,0.00,0.000,6,0.000,0.040,2178,2554,3964
$STATE,8167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8167,begin apogee
$GC,8173,-0.22,0.0,992.1,11.1,737,8269,0.98,0.00,89.07,1.415,6,0.156,0.000,2469,2555,3531
$STATE,8270,end apogee,CONTROL_FINISHED_OK
$STATE,8270,begin climb
$GC,8273,1.18,121.7,996.0,0.0,742,8384,1.25,2.35,101.90,1.372,4,0.056,0.030,2933,1133,3035
$GC,8514,0.60,121.7,985.5,12.6,753,8520,0.75,2.17,0.00,0.000,6,0.214,0.040,2745,2500,3032
$GC,8842,0.63,206.6,961.8,6.4,769,8918,0.00,2.22,69.03,1.359,4,0.000,0.034,2746,1152,2688
$GC,9021,0.77,257.8,946.8,8.6,777,9069,0.15,2.12,42.67,1.325,6,0.084,0.038,2798,2493,2481
$GC,9385,0.71,257.8,899.9,13.5,795,9389,0.00,2.05,0.00,0.000,4,0.000,0.032,2800,1151,2473
$GC,9435,0.71,257.8,893.0,13.5,797,9438,0.00,2.10,0.00,0.000,6,0.000,0.038,2800,2501,2473
$GC,9762,0.66,257.8,847.3,13.7,813,9764,0.17,0.00,0.00,0.000,6,0.182,0.000,2756,2502,2470
$GC,10071,0.75,257.8,809.0,12.8,828,10075,0.00,2.05,0.00,0.000,4,0.000,0.032,2760,1146,2470
$GC,10155,0.86,257.8,797.8,13.6,831,10162,0.17,2.05,0.00,0.000,6,0.083,0.036,2826,2484,2470
$GC,10471,0.73,257.8,744.3,16.9,847,10475,0.17,2.03,0.00,0.000,4,0.180,0.030,2783,1140,2469
$GC,10521,0.78,257.8,736.8,13.9,849,10525,0.00,2.08,0.00,0.000,6,0.000,0.038,2784,2483,2468
$GC,10848,0.78,257.8,692.1,13.2,865,10851,0.00,2.03,0.00,0.000,4,0.000,0.032,2786,1138,2467
$GC,10953,0.78,257.8,677.8,13.7,869,10961,0.00,2.05,0.00,0.000,6,0.000,0.036,2786,2476,2467
$GC,11269,0.78,257.8,635.1,13.4,885,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2476,2466
$GC,11578,0.78,260.6,596.2,11.8,900,11582,0.00,2.00,0.00,0.000,4,0.000,0.032,2791,1142,2465
$GC,11685,0.82,286.9,584.3,10.3,904,11713,0.00,2.03,22.52,1.137,6,0.000,0.037,2791,2466,2362
$GC,12021,0.87,286.9,542.1,12.7,921,12025,0.00,2.00,0.00,0.000,4,0.000,0.031,2791,1140,2359
$GC,12122,0.95,286.9,529.0,12.7,925,12126,0.17,2.03,0.00,0.000,6,0.077,0.036,2856,2460,2358
$GC,12444,0.80,286.9,478.4,15.7,946,12450,0.20,0.00,0.00,0.000,6,0.185,0.000,2806,2462,2357
$GC,12770,0.80,286.9,433.3,13.1,977,12774,0.00,1.98,0.00,0.000,4,0.000,0.031,2813,1138,2357
$GC,13000,0.86,286.9,403.3,12.3,997,13007,0.00,2.03,0.00,0.000,6,0.000,0.035,2813,2469,2357
$GC,13326,0.86,286.9,362.3,12.7,1028,13330,0.00,1.98,0.00,0.000,4,0.000,0.031,2819,1140,2357
$GC,13475,0.92,297.2,344.5,11.3,1041,13489,0.00,2.00,9.10,0.874,6,0.000,0.036,2819,2451,2320
$GC,13805,0.93,309.2,306.9,11.2,1072,13820,0.00,2.05,11.15,0.863,4,0.000,0.053,2818,3767,2272
$GC,13859,0.89,309.2,299.5,13.7,1076,13866,0.00,1.92,0.00,0.000,6,0.000,0.027,2828,2455,2270
$GC,14203,0.96,326.4,256.9,10.9,1137,14223,0.00,2.05,14.85,0.841,4,0.000,0.031,2828,1116,2201
$GC,14338,1.15,354.5,243.5,10.1,1160,14369,0.25,2.03,23.58,0.838,6,0.067,0.034,2924,2444,2086
$GC,14709,1.00,354.5,189.1,14.2,1225,14717,0.20,2.00,0.00,0.000,4,0.174,0.028,2873,1112,2080
$GC,14813,1.01,365.0,175.7,11.3,1243,14831,0.00,1.98,9.23,0.719,6,0.000,0.033,2873,2413,2043
$GC,15171,1.15,383.5,131.1,10.8,1306,15196,0.12,1.95,15.55,0.717,4,0.084,0.030,2930,1116,1967
$GC,15248,1.17,400.3,122.0,10.9,1319,15267,0.00,1.92,15.00,0.700,6,0.000,0.032,2930,2387,1899
$GC,15606,1.17,400.3,80.4,12.5,1382,15612,0.00,1.90,0.00,0.000,4,0.000,0.028,2937,1106,1895
$GC,15675,1.22,400.3,71.8,12.6,1394,15681,0.00,1.92,0.00,0.000,6,0.000,0.031,2937,2387,1895
$GC,16020,1.33,422.5,31.6,10.5,1455,16045,0.10,1.88,17.98,0.621,4,0.083,0.028,2987,1107,1809
$STATE,16250,end climb,SURFACE_DEPTH_REACHED
$STATE,16251,begin surface coast
$FINISH,1.7,0.998584
$STATE,16274,end surface coast,CONTROL_FINISHED_OK
$STATE,16274,begin surface
$SM_CCo,16294,0.57,0.081,0,0,1799,425.10
$SM_GC,3.03,0.00,0.00,0.57,0.000,0.000,0.081,141,2462,1799,-7.51,0.99,425.10
$IRIDIUM_FIX,2503.20,12336.78,240998,212130
$TT8_MAMPS,0.029146
$HUMID,1590
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.6,42.834
$10V_AH,10.8,24.292
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.175,135.275,441.625,0.575,0.000,59.395,66.736,248.556,8.000,0.000,0.000,12.688,2677.632,10213.551,563.799,2704.740,704.561,0.000,1932.354,0.000,2644.585,0.000,56.436,0.000
$DEVICE_MAMPS,244.673,55.991,1415.115,80.535,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.786,1039.796,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78973,1500
$CAP_FILE_SIZE,170433,0
$CFSIZE,260165632,206110720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122, 81.7,1
$GPS,010709,013607,2514.056,12337.649,25,1.5,26,-3.7